{"id":"https://openalex.org/W2081958267","doi":"https://doi.org/10.1017/s0263574700006093","title":"An Approach to Biped Control Synthesis","display_name":"An Approach to Biped Control Synthesis","publication_year":1989,"publication_date":"1989-07-01","ids":{"openalex":"https://openalex.org/W2081958267","doi":"https://doi.org/10.1017/s0263574700006093","mag":"2081958267"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700006093","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700006093","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033260817","display_name":"Branislav Borova\u0107","orcid":"https://orcid.org/0000-0001-7446-1027"},"institutions":[{"id":"https://openalex.org/I170726198","display_name":"University of Novi Sad","ror":"https://ror.org/00xa57a59","country_code":"RS","type":"education","lineage":["https://openalex.org/I170726198"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"B. Borovac","raw_affiliation_strings":["University of Novi Sad, Faculty of Technical Sciences, Institute of Mechanics and Engineering Design, 21000-Novi Sad, V. Vlahovi\u0107a 3 (Yugoslavia","* University of Novi Sad, Faculty of Technical Sciences, Institute of Mechanics and Engineering Design, 21000-Novi Sad, V. Vlahovi\u0107a 3 (Yugoslavia)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Novi Sad, Faculty of Technical Sciences, Institute of Mechanics and Engineering Design, 21000-Novi Sad, V. Vlahovi\u0107a 3 (Yugoslavia","institution_ids":["https://openalex.org/I170726198"]},{"raw_affiliation_string":"* University of Novi Sad, Faculty of Technical Sciences, Institute of Mechanics and Engineering Design, 21000-Novi Sad, V. Vlahovi\u0107a 3 (Yugoslavia)","institution_ids":["https://openalex.org/I170726198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110296223","display_name":"Miomir Vukobratovi\u0107","orcid":"https://orcid.org/0000-0001-8596-6426"},"institutions":[{"id":"https://openalex.org/I10572248","display_name":"Institut Mihajlo Pupin","ror":"https://ror.org/00jk2b778","country_code":"RS","type":"facility","lineage":["https://openalex.org/I10572248","https://openalex.org/I4068193"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"M. Vukobratovi\u0107","raw_affiliation_strings":["\u201cM. Pupin\u201d Institute, 11000-Belgrade, Volgina 15, (Yugoslavia","\u2020 \u201cM. Pupin\u201d Institute, 11000-Belgrade, Volgina 15, (Yugoslavia)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u201cM. Pupin\u201d Institute, 11000-Belgrade, Volgina 15, (Yugoslavia","institution_ids":["https://openalex.org/I10572248"]},{"raw_affiliation_string":"\u2020 \u201cM. Pupin\u201d Institute, 11000-Belgrade, Volgina 15, (Yugoslavia)","institution_ids":["https://openalex.org/I10572248"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011154683","display_name":"Du\u0161an Surla","orcid":"https://orcid.org/0000-0003-2040-8735"},"institutions":[{"id":"https://openalex.org/I170726198","display_name":"University of Novi Sad","ror":"https://ror.org/00xa57a59","country_code":"RS","type":"education","lineage":["https://openalex.org/I170726198"]},{"id":"https://openalex.org/I4210120266","display_name":"Czech Academy of Sciences, Institute of Mathematics","ror":"https://ror.org/02tv1yf50","country_code":"CZ","type":"facility","lineage":["https://openalex.org/I202391551","https://openalex.org/I4210120266"]}],"countries":["CZ","RS"],"is_corresponding":false,"raw_author_name":"D. Surla","raw_affiliation_strings":["University of Novi Sad, Institute of Mathematics, 21000-Novi Sad, I. Duri\u010di\u0107a 4 (Yugoslavia","\u2021 University of Novi Sad, Institute of Mathematics, 21000-Novi Sad, I. Duri\u010di\u0107a 4 (Yugoslavia)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Novi Sad, Institute of Mathematics, 21000-Novi Sad, I. Duri\u010di\u0107a 4 (Yugoslavia","institution_ids":["https://openalex.org/I170726198","https://openalex.org/I4210120266"]},{"raw_affiliation_string":"\u2021 University of Novi Sad, Institute of Mathematics, 21000-Novi Sad, I. Duri\u010di\u0107a 4 (Yugoslavia)","institution_ids":["https://openalex.org/I170726198"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9239,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.86536443,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"7","issue":"3","first_page":"231","last_page":"241"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.982200026512146,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9539999961853027,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8559718132019043},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.7421438694000244},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.6488097310066223},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5922145843505859},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5512852072715759},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5499132871627808},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.536196231842041},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5285555124282837},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5105732679367065},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4895230531692505},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4778028130531311},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.47545358538627625},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4118480682373047},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21374303102493286},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2115595042705536},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10149756073951721},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0993279218673706},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08056032657623291}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8559718132019043},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7421438694000244},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.6488097310066223},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5922145843505859},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5512852072715759},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5499132871627808},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.536196231842041},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5285555124282837},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5105732679367065},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4895230531692505},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4778028130531311},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.47545358538627625},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4118480682373047},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21374303102493286},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2115595042705536},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10149756073951721},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0993279218673706},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08056032657623291},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574700006093","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700006093","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2000680346","https://openalex.org/W2011872941","https://openalex.org/W2013311789","https://openalex.org/W2029807661","https://openalex.org/W2039026174","https://openalex.org/W2065199501","https://openalex.org/W2068661764","https://openalex.org/W2070038508","https://openalex.org/W2305781264","https://openalex.org/W2485224251","https://openalex.org/W2725444228","https://openalex.org/W4240294619","https://openalex.org/W6660239534"],"related_works":["https://openalex.org/W2138228021","https://openalex.org/W2259616189","https://openalex.org/W2373921823","https://openalex.org/W2022544890","https://openalex.org/W2394097730","https://openalex.org/W2331332883","https://openalex.org/W1987749388","https://openalex.org/W4312353617","https://openalex.org/W2113405914","https://openalex.org/W2560160706"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1],"novel":[2],"approach":[3],"to":[4,30,51,85],"control":[5,28,49,77,123],"synthesis":[6,14,78],"of":[7,23,34,39,45,61,65,72,129,150],"biped":[8],"locomotion":[9],"mechanisms":[10],"is":[11,15,119,144,157],"suggested.":[12],"The":[13],"carried":[16],"out":[17],"in":[18,36,138],"two":[19],"stages:":[20],"the":[21,32,37,43,55,63,66,70,75,81,87,93,96,104,111,127,142,151],"stage":[22,44],"nominal":[24,91],"regimes":[25,47],"(the":[26,48],"synthesized":[27],"has":[29,50],"ensure":[31,80],"realization":[33],"gait":[35],"absence":[38],"any":[40],"disturbance),":[41],"and":[42],"perturbed":[46,73],"eliminate":[52],"deviations":[53],"from":[54],"nominals":[56],"under":[57],"an":[58,147],"additional":[59,148],"condition":[60],"preserving":[62],"stability":[64],"overall":[67,113],"System).":[68],"At":[69],"level":[71],"regimes,":[74],"proposed":[76],"should":[79],"compensating":[82,97,130],"movements":[83,98,131],"such":[84,121],"bring":[86],"System":[88],"ot":[89],"its":[90],"during":[92],"gait.":[94],"However,":[95],"can,":[99],"as":[100],"a":[101,122,135],"side\u2013effect,":[102],"induce":[103],"undesirable":[105],"inertial":[106],"forces":[107],"which":[108,124],"can":[109],"influence":[110],"mechanism":[112,161],"stability.":[114],"To":[115],"avoid":[116],"this,":[117],"it":[118],"suggested":[120],"ensures":[125],"that":[126],"acceleration":[128],"does":[132],"not":[133],"exceed":[134],"value":[136],"given":[137],"advance.":[139],"In":[140],"addition,":[141],"case":[143],"considered":[145],"when":[146],"correction":[149],"zero":[152],"moment":[153],"point":[154],"ZMP":[155],"position":[156],"accomplished":[158],"by":[159],"different":[160],"joints.":[162]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}